function contrast(fcontrast,dataTrue,cbn_k,v_kn,position_k,timek)
%解算数据与参考数据时间对齐后输出差值
timek=round(timek*1000)/1000;
timeP=round(dataTrue(1)*1000)/1000;
%解算数据与参考数据时间对齐后输出差值
if(timeP==timek)
    latitude_r   = rad2deg(position_k(1));
    longitude_r  = rad2deg(position_k(2));
    h_r          = position_k(3);
    vN_r    = v_kn(1);
    vE_r    = v_kn(2);
    vD_r    = v_kn(3);
    phi_r      = rad2deg(atan2(cbn_k(3,2),cbn_k(3,3)));
    theta_r    = rad2deg(atan(-cbn_k(3,1)/sqrt(cbn_k(3,2)^2+cbn_k(3,3)^2)));
    psi_r      = rad2deg(atan2(cbn_k(2,1),cbn_k(1,1)));
    %psi_r        = psi_r + 180;

    delta_lat    = latitude_r-dataTrue(2);
    dalta_lon    = longitude_r-dataTrue(3);
    delta_h      = h_r-dataTrue(4);
    delta_vN     = vN_r-dataTrue(5);
    delta_vE     = vE_r-dataTrue(6);
    delta_vD     = vD_r-dataTrue(7);
    delta_phi    = phi_r-dataTrue(8);
    delta_theta  = theta_r-dataTrue(9);
    delta_psi    = psi_r-dataTrue(10);
    fprintf(fcontrast, '%.3f %14.10f %14.10f %14.10f %14.10f %14.10f %14.10f %14.9f %14.9f %14.9f\n',timek,delta_lat,dalta_lon,delta_h,delta_vN,delta_vE,delta_vD,delta_phi,delta_theta,delta_psi);
elseif(timeP~=timek)
    fprintf('%s\n','解算数据与参考数据时间不同');
end

end